Martin Hill
opener-6
Dependencies: TextLCD_HelloWorld2 TextLCD mbed
Fork of
TextLCD_HelloWorld2
by 
Wim Huiskamp
Diff: main.cpp
- Revision:
- 5:93f48c84e645
- Parent:
- 4:a3e4bb2053cb
--- a/main.cpp Sun Mar 29 13:12:07 2015 +0000
+++ b/main.cpp Mon Apr 16 12:09:03 2018 +0000
@@ -1,76 +1,710 @@
-/* Hello World! for the TextLCD Enhanced Library*/
+
+// DOOR OPENER version 1.4 (Opener-6)
+//
+//
+// program and related hardware serve to test the "door opener"
+// general function:
+//
+// open and close via buttons or automatically
+// motor stops when endposition is reached (or current to high)
+// duty cycle, ramp- time and pause time for automatic
+// are adjustable via potentiometers
+//
+// current, cycles, ramp- time, pause- time will be displayed
+//
+//
+//
+// include the following functions:
+// read the digital inputs button open
+// button close
+// proximity switch open
+// proximity switch close
+// auto_on
+//
+// read the analog inputs motor_current
+// duty_cycle 10..100%
+// ramp_time 0.1...9.9 sec
+// pause_time 1.0..99.9 sec
+//
+// set the outputs myled
+// out_status_led
+// out_led_open
+// out_led_close
+// pwm_close
+// pwm_open
+// motor enable
+// ---------------------------------------------
+// first date : 26-07-2017
+// last change : 10-11-2017
+// name : Hillebrand, Martin (Iserlohn)
+// target : FRDM K64F (from NXP)
+// software : mbed (online)
+// programming : USB direct to SDA- interface
+// ---------------------------------------------
#include "mbed.h"
#include "TextLCD.h"
-
-// Host PC Communication channels
-Serial pc(USBTX, USBRX); // tx, rx
+
+#define OPEN 1
+#define CLOSE 2
+
+// variable declaration
+// ====================
+
+int old_value = 0; // for single shot putty- output
+int new_value = 0; // dto.
+
+float duty_open = 0; // duty cycle in direction open
+float duty_close = 0; // duty cycle in direction close
+
+double motor_current = 0; // current from motor controller CT
+
+int button_open = 0; // following variables contains the
+int button_close = 0; // input values, but logical correct
+int endpos_open = 0; // e. g. button_open = 1 activ
+int endpos_close = 0; // switch_auto = 1, when auto is ON
+int switch_auto = 0; //
+int time_flag = 0; // flag for resetting timer
+
+int dir = 0;
+int off_flag = 0;
+int auto_status = 0;
+int auto_cycle = 0;
+int k = 0;
+int start_move = 0;
+int flag_9 = 0;
+
+
+
+float current_motor = 0; //
+double duty_cycle_percent = 0; //
+double duty_cycle_current = 0; //
+
+double pause_time = 0; //
+double ramp_time = 0;
+double voltage3v3 = 0; // analog values refer
+double m_old_value = 0;
+double m_new_value = 0;
+double elapsed_time = 0; // elapsed time since t.start()
+double timeout_x_time = 0; // elapsed time for timeout
+double gradient = 0; // gradient for solving
+double timeouttime = 60; // fix value for reaching the endposition
+
+
+Timer t;
+Timer x;
+
+// function declaration
+// ====================
+
+void initialize(void);
+void state_to_usb(void);
+void read_inputs(void);
+void monitor_output(void);
+void endpos_led(void);
+void motor_manual(int);
+void motor_auto(int);
+void automatic(void);
+void motor_off(void);
+void motor_off_auto(void);
+
+void manual_mode(void);
+void lcd_output_start(void); // display after reset
+void lcd_output_setting(void); // setting mode
+void lcd_output_manual(void); // auto, waiting for close door
+void lcd_output_auto0(void); // auto, close, waiting for start
+void lcd_output_auto1(void); //
+void lcd_output_auto2(void);
+void lcd_output_auto3(void);
+
+
+// define inputs and outputs
+// =========================
+
+DigitalOut myled(LED1); // internal Test- LED
+PwmOut pwm_open(PTD2); // PWM- signal for direction open
+PwmOut pwm_close(PTD0); // PWM- signal for direction close
+
+DigitalOut out_enable(PTC4); // enable motor driver
+DigitalOut out_led_open(PTC16); // indicator in button open
+DigitalOut out_led_close(PTC17); // indicator in button close
+DigitalOut out_led_status(PTB9); // led status
-// I2C Communication
-I2C i2c_lcd(p9,p10); // SDA, SCL
-//I2C i2c_lcd(p28,p27); // SDA, SCL
-
-// SPI Communication
-SPI spi_lcd(p5, NC, p7); // MOSI, MISO, SCLK
+DigitalIn in_btn_open(PTD1); // button open
+DigitalIn in_btn_close(PTD3); // button close
+DigitalIn in_end_pos_open(PTB23); // signal endposition open
+DigitalIn in_end_pos_close(PTA1); // signal endposition close
+DigitalIn in_sw_auto(PTC12); // switch to start auto sequence
+
+
+AnalogIn a_in_motor(PTC10); // A5- motor current
+AnalogIn a_in_duty(PTC11); // A4- duty cycle analog
+AnalogIn a_in_ramp(PTB11); // A3- ramp analog value 0.1..9.9 seconds
+AnalogIn a_in_pause(PTB10); // A2- pause analog value0.0..99.9 seconds
+AnalogIn a_in_3v3(PTB3); // A1- reference voltage 3,3 volt
+
+
-// LCD instantiation
-//TextLCD lcd(p15, p16, p17, p18, p19, p20, TextLCD::LCD20x2); // 4bit bus: rs, e, d4-d7
-TextLCD_I2C lcd(&i2c_lcd, 0x40, TextLCD::LCD20x4); // I2C exp: I2C bus, PCF8574 Slaveaddress, LCD Type
-//TextLCD_I2C lcd(&i2c_lcd, 0x42, TextLCD::LCD16x2, TextLCD::WS0010); // I2C exp: I2C bus, PCF8574 Slaveaddress, LCD Type, Ctrl Type
-//TextLCD_I2C lcd(&spi_lcd, p8, TextLCD::LCD24x4D); // I2C exp: SPI bus, CS pin, LCD Type
-//TextLCD_SPI_N lcd(&spi_lcd, p8, p9, TextLCD::LCD16x2, NC, TextLCD::ST7032_3V3); // SPI native: SPI bus, CS pin, RS pin, LCDType=LCD16x2, BL=NC, LCDTCtrl=ST7032
-//TextLCD_I2C_N lcd(&i2c_lcd, ST7032_SA, TextLCD::LCD16x2, NC, TextLCD::ST7032_3V3); // I2C native: I2C bus, slaveaddress, LCDType=LCD16x2, BL=NC, LCDTCtrl=ST7032 =Ok
-//TextLCD_I2C_N lcd(&i2c_lcd, SSD1803_SA1, TextLCD::LCD20x4D, NC, TextLCD::SSD1803_3V3); // I2C native: I2C bus, slaveaddress, LCDType=LCD20x4D, BL=NC, LCDTCtrl=SSD1803 =Ok
-
-int main() {
- Timer t;
+/*
+AnalogIn a_in_motor(PTB2); // A0- motor current
+AnalogIn a_in_duty(PTB3); // A1- duty cycle analog
+AnalogIn a_in_ramp(PTB10); // A2- ramp analog value 0.1..9.9 seconds
+AnalogIn a_in_pause(PTB11); // A3- pause analog value0.0..99.9 seconds
+AnalogIn a_in_3v3(PTC11); // A4- reference voltage 3,3 volt
+
+*/
+Serial pc(USBTX, USBRX); // Host PC Communication channels tx, rx
+I2C i2c_lcd(PTE25,PTE24); // SDA, SCL for K64
+
+TextLCD_I2C lcd(&i2c_lcd, 0x27<<1, TextLCD::LCD20x4);
- pc.printf("TextLCD Enhanced Test. Columns=%d, Rows=%d\n\r", lcd.columns(), lcd.rows());
+//-----------------------------------------------------------------------------
+void lcd_output_start(void)
+{
+ wait(0.5);
+ lcd.setBacklight(TextLCD::LightOn); // LCD backlight on
+ lcd.cls();
+ lcd.printf("- door opener v4.6 -"); // LCD Headline
+}
+//-----------------------------------------------------------------------------
+void lcd_output_setting(void)
+{
+ lcd.locate(0,0);
+ lcd.printf("--- setting mode ---");
+ lcd.locate(0,1);
+ lcd.printf("duty cycle = %3.0f %% ",duty_cycle_percent);
+ lcd.locate(0,2);
+ lcd.printf("ramp time = %3.1f s ",ramp_time);
+ lcd.locate(0,3);
+ if (pause_time >=10.0)
+ {
+ lcd.printf("pause time = %3.1f s ",pause_time);
+ }
+ else
+ {
+ lcd.printf("pause time = %3.1f s ",pause_time);
+ }
+}
+//-----------------------------------------------------------------------------
+void lcd_output_manual(void)
+{
+
+ if (button_open || button_close)
+ {
+ k++;
+ if (k >8)
+ {
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("--- manuel mode ---\n");
+ motor_current = (double)a_in_motor*1000.0;
+ lcd.locate(0,2);
+ lcd.printf("Current = %6.1f mA\n",motor_current);
+ lcd.locate(0,3);
+ lcd.printf("duty = %5.0f %%\n",duty_cycle_current);
+ k = 0;
+ }
+ }
+}
+//-----------------------------------------------------------------------------
+void lcd_output_auto0(void)
+{
+ k++;
+ if (k >8)
+ {
+
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("-- automatic mode --\n");
+ lcd.locate(0,1);
+ lcd.printf("status = %d\n", auto_status);
+ motor_current = (double)a_in_motor*1000.0;
+ lcd.locate(0,2);
+ lcd.printf("door is open");
+ lcd.locate(0,3);
+ lcd.printf("close door!\n");
+ k = 0;
+ }
+}
+//-----------------------------------------------------------------------------
+void lcd_output_auto1(void)
+{
+ k++;
+ if (k >8)
+ {
+
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("-- automatic mode --\n");
+ lcd.locate(0,1);
+ lcd.printf("status = %d\n", auto_status);
+ motor_current = (double)a_in_motor*1000.0;
+ lcd.locate(0,2);
+ lcd.printf("door is closed");
+ lcd.locate(0,3);
+ lcd.printf("waiting for start! ");
+ k = 0;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+void lcd_output_auto2(void)
+{
- for (int row=0; row<lcd.rows(); row++) {
- int col=0;
-
- pc.printf("MemAddr(Col=%d, Row=%d)=0x%02X\n\r", col, row, lcd.getAddress(col, row));
-// lcd.putc('-');
- lcd.putc('0' + row);
-
- for (col=1; col<lcd.columns()-1; col++) {
- lcd.putc('*');
+ k++;
+ if (k >8)
+ {
+
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("-- automatic mode --\n");
+ lcd.locate(0,1);
+ if (dir == OPEN)
+ {
+ lcd.printf("status = %d OPEN \n", auto_status);
}
-
- pc.printf("MemAddr(Col=%d, Row=%d)=0x%02X\n\r", col, row, lcd.getAddress(col, row));
- lcd.putc('+');
- }
-
-// Fill screen again and time it
- t.start();
+ if (dir == CLOSE)
+ {
+ lcd.printf("status = %d CLOSE\n", auto_status);
+ }
+ motor_current = (double)a_in_motor*1000.0;
+ lcd.locate(0,2);
+ lcd.printf("running, cycle %d ",auto_cycle);
- for (int row=0; row<lcd.rows(); row++) {
- int col=0;
-
- lcd.putc('0' + row);
-
- for (col=1; col<lcd.columns()-1; col++) {
- lcd.putc('*');
+ lcd.locate(0,3);
+ lcd.printf("Current = %6.1f mA\r\n",motor_current);
+ k = 0;
}
-
- lcd.putc('+');
- }
- t.stop();
- pc.printf("All my hard work took %f sec\r\n", t.read());
-
-// Show cursor as blinking character
- lcd.setCursor(TextLCD::CurOff_BlkOn);
-
-// Set and show user defined characters. A maximum of 8 UDCs are supported by the HD44780.
-// They are defined by a 5x7 bitpattern.
- lcd.setUDC(0, (char *) udc_0); // Show |>
- lcd.putc(0);
- lcd.setUDC(1, (char *) udc_1); // Show <|
- lcd.putc(1);
-
- pc.printf("Bye now\r\n");
}
+//-----------------------------------------------------------------------------
+void lcd_output_auto3(void)
+{
+ k++;
+ if (k >8)
+ {
+
+ lcd.cls();
+ lcd.locate(0,0);
+ lcd.printf("-- automatic mode --\n");
+ lcd.locate(0,1);
+ lcd.printf("status = %d\n", auto_status);
+ motor_current = (double)a_in_motor*1000.0;
+ lcd.locate(0,2);
+ lcd.printf("running, cycle %d\r\n",auto_cycle);
+ lcd.locate(0,3);
+ lcd.printf("Pause: %3.1f of %3.1f s\r\n",elapsed_time, pause_time);
+ k = 0;
+ }
+}
+
+//-----------------------------------------------------------------------------
+void monitor_output(void)
+{
+ m_old_value = duty_cycle_percent + ramp_time + pause_time;
+
+ if (abs(m_new_value - m_old_value) > 1.0)
+ {
+ pc.printf("\r\n");
+ pc.printf("----------------------------\r\n");
+ pc.printf("duty cycle = %3.1f Prozent \r\n", duty_cycle_percent);
+ pc.printf("ramp time = %3.1f Sekunden \r\n", ramp_time);
+ pc.printf("pause time = %4.1f Sekunden \r\n", pause_time);
+ wait(0.1);
+ }
+ m_new_value = m_old_value;
+}
+//-----------------------------------------------------------------------------
+void read_inputs(void) // and calculate
+{
+ button_open = !in_btn_open;
+ button_close = !in_btn_close;
+
+ endpos_open = !in_end_pos_open;
+ endpos_close = !in_end_pos_close;
+ switch_auto = !in_sw_auto;
+
+
+
+ voltage3v3 = (float)a_in_3v3;
+
+ duty_cycle_percent = (double)(a_in_duty*100.0f/voltage3v3);
+ if (duty_cycle_percent > 100.0) duty_cycle_percent = 100.0;
+ if (duty_cycle_percent < 10.0) duty_cycle_percent = 10.0;
+
+ ramp_time = (double)(a_in_ramp*9.9f/voltage3v3);
+ if (ramp_time <0.1) ramp_time = 0.1;
+ if (ramp_time >9.9) ramp_time = 9.9;
+
+ pause_time = (double)(a_in_pause*99.9f/voltage3v3);
+ if (pause_time <1.0) pause_time = 1.0;
+ if (pause_time >99.9) pause_time = 99.9;
+
+ if (!button_open && !button_close && !switch_auto)
+ {
+ lcd_output_setting();
+ }
+}
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+void initialize(void)
+{
+ out_led_status = 1;
+ out_enable = 1;
+ pwm_close.period(1.0/1000);
+ pwm_open.period(1.0/1000);
+}
+// -----------------------------------------------------------------------------
+void endpos_led(void)
+{
+ if (endpos_open) // switching ON of the "end pos"-led in the button OPEN
+ {
+ out_led_open = 1;
+ } else
+ {
+ out_led_open = 0;
+ }
+ //=====================================================================
+ if (endpos_close) // switching ON "end pos"-led in the button CLOSE
+ {
+ out_led_close = 1;
+ } else
+ {
+ out_led_close = 0;
+ }
+}
+// ----------------------------------------------------------------------------
+void state_to_usb(void)
+{
+ new_value = (int)(button_open * 1 + button_close * 2 + endpos_open *
+ 4 + endpos_close * 8 + switch_auto * 16 + auto_status *32);
+
+ if (new_value!= old_value)
+ { // state of inputs if new values different from former values
+
+ pc.printf("----------------------\r\n");
+ pc.printf("Button Open %d \r\n", (int)button_open);
+ pc.printf("Button Close %d \r\n", (int)button_close);
+ pc.printf("End Position Open %d \r\n", (int)endpos_open);
+ pc.printf("End Position Close %d \r\n", (int)endpos_close);
+ pc.printf("Switch Auto %d \r\n", (int)switch_auto);
+ pc.printf("auto status %d \r\n", (int)auto_status);
+
+
+ old_value = new_value;
+ }
+ out_led_status = !out_led_status;
+ wait(0.05);
+}
+// -----------------------------------------------------------------------------
+void automatic(void)
+{
+ switch (auto_status)
+ {
+// -----------------------------------------------------------------------------
+ case 0:
+ lcd_output_auto0();
+ if (endpos_close)
+ {
+ auto_status = 1;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 1:
+ lcd_output_auto1();
+ if (endpos_close && button_open)
+ {
+ auto_status = 2; // forward to status 2
+ }
+ if (!endpos_close) // back to status 0
+ {
+ auto_status = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 2:
+ lcd_output_auto1();
+ if (endpos_close && !button_open) // release start button
+ {
+ auto_status = 3;
+ }
+ if (!endpos_close) // back to status 0
+ {
+ auto_status = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 3:
+ lcd_output_auto2();
+ if (endpos_close && !button_open) // release start button
+ {
+ wait(0.3);
+ auto_status = 4;
+ start_move = 1; //?
+ time_flag = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 4:
+ lcd_output_auto2();
+ motor_auto(OPEN); // motor runs until
+ // a.) position is open
+ // b.) auto switch turned off
+ // c.) timeout reached
+ //
+ start_move = 0;
+ if (!endpos_close) // motor leave endpos close
+ {
+ x.reset();
+ x.start();
+ timeout_x_time = 0;
+
+ auto_status = 5;
+
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 5:
+ lcd_output_auto2();
+ motor_auto(OPEN); // motor runs until
+ // a.) position is open
+ // b.) auto switch turned off
+ // c.) timeout reached
+ //
+
+ timeout_x_time = x.read();
+ if (timeout_x_time > timeouttime)
+ {
+ motor_off_auto();
+ out_led_status = 1;
+
+ }
+
+
+
+
+
+
+ if (endpos_open) // motor reach open position
+ {
+ motor_off_auto();
+ auto_status = 6;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 6:
+ lcd_output_auto2();
+ time_flag = 0;
+ if (endpos_open) //
+ {
+ auto_status = 7;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 7:
+ lcd_output_auto3();
+ if (!time_flag)
+ {
+ t.reset();
+ t.start();
+ time_flag = 1;
+ elapsed_time = 0;
+ }
+ elapsed_time = t.read();
+ if (elapsed_time > pause_time)
+ {
+ auto_status = 8;
+ time_flag = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 8:
+ lcd_output_auto2();
+ motor_auto(CLOSE); // motor runs until
+ // a.) position is open
+ // b.) auto switch turned off
+ // c.) timeout reached
+ if (!endpos_open)
+ {
+ auto_status = 9;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 9:
+ lcd_output_auto2();
+ motor_auto(CLOSE); // motor runs until
+ // a.) position is open
+ // b.) auto switch turned off
+ // c.) timeout reached
+ if (endpos_close)
+ {
+ motor_off_auto();
+ auto_status = 10;
+ time_flag = 0;
+ auto_cycle++;
+ if (auto_cycle > 100000) auto_cycle = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 10:
+ lcd_output_auto3();
+ if (!time_flag)
+ {
+ t.reset();
+ t.start();
+ time_flag = 1;
+ elapsed_time = 0;
+ }
+ elapsed_time = t.read();
+ if (elapsed_time > pause_time)
+ {
+ auto_status = 11;
+ time_flag = 0;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ case 11:
+ lcd_output_auto2();
+ if (endpos_close)
+ {
+ auto_status = 2;
+ }
+ break;
+// -----------------------------------------------------------------------------
+ default:
+ break;
+ }
+}
+// -----------------------------------------------------------------------------
+void motor_manual(int direction)
+{
+ if (!time_flag)
+ {
+ t.reset();
+ t.start();
+ time_flag = 1;
+ elapsed_time = 0;
+ }
+ elapsed_time = t.read();
+ gradient = (duty_cycle_percent-10.0f)/ramp_time;
+
+ if (elapsed_time < ramp_time)
+ {
+ duty_cycle_current = 10.0 + elapsed_time * gradient;
+ }
+ else
+ {
+ duty_cycle_current = duty_cycle_percent;
+ }
+ if (direction == OPEN)
+ {
+ pwm_open.write(duty_cycle_current/100.0f);
+ }
+ if (direction == CLOSE)
+ {
+ pwm_close.write(duty_cycle_current/100.0f);
+ }
+ lcd_output_manual();
+}
+// ----------------------------------------------------------------------------
+void motor_auto(int direction)
+{
+ dir = direction;
+
+ if (!time_flag)
+ {
+ t.reset();
+ t.start();
+ time_flag = 1;
+ elapsed_time = 0;
+ }
+
+ elapsed_time = t.read();
+ gradient = (duty_cycle_percent-10.0f)/ramp_time;
+
+ if (elapsed_time < ramp_time)
+ {
+ duty_cycle_current = 10.0 + elapsed_time * gradient;
+ }
+ else
+ {
+ duty_cycle_current = duty_cycle_percent;
+ }
+ if (direction == OPEN)
+ {
+ pwm_open.write(duty_cycle_current/100.0f);
+ }
+ if (direction == CLOSE)
+ {
+ pwm_close.write(duty_cycle_current/100.0f);
+ }
+}
+// ----------------------------------------------------------------------------
+void motor_off_auto(void)
+{
+ duty_cycle_current = 0;
+ pwm_close.write(0);
+ pwm_open.write(0);
+}
+// ----------------------------------------------------------------------------
+void motor_off(void)
+{
+ duty_cycle_current = 0;
+ pwm_close.write(0);
+ pwm_open.write(0);
+ lcd_output_manual();
+}
+// ----------------------------------------------------------------------------
+void manual_mode(void)
+{
+ auto_status = 0;
+ //-----------------------------------
+ if(button_open && !endpos_open)
+ {
+ motor_manual(OPEN);
+ off_flag = 0;
+ }
+ //-----------------------------------
+ if(button_close && !endpos_close)
+ {
+ motor_manual(CLOSE);
+ off_flag = 0;
+ }
+ //-----------------------------------
+ if (off_flag)
+ {
+ motor_off();
+ off_flag = 0;
+ time_flag = 0;
+ }
+}
+// ----------------------------------------------------------------------------
+// ----------------------------------------------------------------------------
+// ----------------------------------------------------------------------------
+int main()
+{
+ initialize();
+ lcd_output_start();
+ while (1)
+ {
+ read_inputs();
+ state_to_usb();
+ monitor_output();
+ endpos_led();
+
+ off_flag = 1; // to prevent display flicker
+
+ if (!switch_auto) // manual mode
+ {
+ manual_mode();
+ }
+ if (switch_auto) // auto mode
+ {
+ automatic();
+ }
+ }
+}